Articulated limb for a robot or haptic interface and robot and haptic interface comprising at least one such articulated limb

摘要

A jointed limb comprising at least first (2) and second (4) rigid segments and a joint (6) providing rotation of the first and second segments with respect to each other about an axis of rotation (Y), said joint (6) comprising fibers, wherein each of the segments (2, 4) comprises a body (8.1, 8.2) and an end element (10.1, 10.2) provided at an end of said body, both end elements (10.1, 10.2) being held facing each other by said joint (6), said end elements (10.1, 10.2) comprising tapered profiles having vertices facing each other, each of said end elements (10.1, 10.2) being made prior to being secured it to the corresponding body (8.1, 8.2).

主权项

1. A jointed limb comprising:
at least first and second rigid segments and a joint providing rotation of the first and second segments with respect to each other about an axis of rotation, said joint comprising at least one elongated element formed by cables and/or strips of woven or non-woven fibres, the elongated element extending, in a reference configuration, along a direction perpendicular to the axis of rotation, and wherein a medium plane of the elongated element passes at least partially through, or in proximity to, the axis of rotation, and wherein each of the segments comprises a body and an end element provided at an end of said body, both end elements being held facing each other by said joint, said end elements comprising tapered profiles having vertices facing each other, each of said end elements being made prior to being secured to the corresponding body.